CN112972211A

CN112972211A - Lower limb exoskeleton device

Info

Publication number: CN112972211A
Application number: CN202110391147.8A
Authority: CN
Inventors: 齐关宇; 关文江
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Sipeng Technology Co ltd
Priority date: 2021-04-12
Filing date: 2021-04-12
Publication date: 2021-06-18
Anticipated expiration: 2041-04-12
Also published as: CN112972211B

Abstract

The present invention provides a lower extremity exoskeleton device comprising: the hip joint module comprises a waist fixing component and a first thigh fixing component, wherein the first thigh fixing component comprises a hip joint supporting rod, a first thigh fixing part and a rotating mechanism; the ankle joint module comprises a foot fixing component and a first shank fixing component, and the foot fixing component is rotatably connected with the first shank fixing component; the knee joint module comprises a second thigh fixing component and a second shank fixing component, the second thigh fixing component is rotatably connected with the second shank fixing component, the first thigh fixing component and the second thigh fixing component are arranged in a staggered mode, and the first shank fixing component and the second shank fixing component are arranged in a staggered mode. Through the technical scheme provided by the application, the problems that the lower limb exoskeleton device in the prior art is complex in structure and limited in freedom of movement can be solved.

Description

Lower limb exoskeleton device

Technical Field

The invention relates to the technical field of wearable exoskeletons, in particular to a lower limb exoskeletons device.

Background

At present, the lower limb exoskeleton device can help the weak old to walk after being worn, and can also help a rehabilitation patient to carry out rehabilitation training. The existing lower limb exoskeleton device is an integral lower limb exoskeleton, a wearer needs to simultaneously penetrate the waist, the legs and the feet into the device when wearing the device, and the device is inconvenient for the wearer to wear, store and transport; in addition, because the joints of the lower limbs of the human body are relatively complex, the current integrated lower limb exoskeleton device can only realize the motion of the sagittal plane or the motion of part of frontal plane of the lower limbs of the human body, and the freedom degree of the motion of the lower limbs is greatly limited.

Disclosure of Invention

The invention provides a lower limb exoskeleton device, which aims to solve the problems that the lower limb exoskeleton device in the prior art is complex in structure and limited in freedom of movement.

The present invention provides a lower extremity exoskeleton device comprising: the hip joint module comprises a waist fixing component and a first thigh fixing component, the first thigh fixing component comprises a hip joint supporting rod, a first thigh fixing part and a rotating mechanism, the first thigh fixing part is used for fixing with legs, the rotating mechanism is positioned between the hip joint supporting rod and the first thigh fixing part, the hip joint supporting rod is provided with a first end and a second end which are arranged oppositely, the first end of the hip joint supporting rod is rotatably connected with the waist fixing component, the hip joint supporting rod can swing in the front-back direction relative to the waist fixing component, the second end of the hip joint supporting rod is connected with the rotating mechanism, and the first thigh fixing part can rotate in the horizontal direction relative to the hip joint supporting rod through the rotating mechanism; the ankle joint module comprises a foot fixing component and a first shank fixing component, and the foot fixing component is rotatably connected with the first shank fixing component; the knee joint module comprises a second thigh fixing component and a second shank fixing component, the second thigh fixing component is rotatably connected with the second shank fixing component, the hip joint module, the ankle joint module and the knee joint module are mutually independent, the first thigh fixing component and the second thigh fixing component are arranged in a staggered mode, and the first shank fixing component and the second shank fixing component are arranged in a staggered mode.

Further, the rotating mechanism includes: the first matching piece is fixed on the second end of the hip joint supporting rod; the second matching piece is movably connected with the first matching piece and fixed on the first thigh fixing piece, and the first thigh fixing piece rotates in the horizontal direction relative to the hip joint supporting rod through the matching of the first matching piece and the second matching piece.

Further, the hip joint module further comprises: the connecting rod assembly is arranged between the waist fixing assembly and the first end of the hip joint supporting rod, and the hip joint supporting rod can swing in the left-right direction relative to the waist fixing assembly through the connecting rod assembly.

Further, the connecting rod assembly includes: one end of the first connecting rod is connected with the waist fixing component; one end of the second connecting rod is hinged with the other end of the first connecting rod, and the other end of the second connecting rod is connected with the first end of the hip joint supporting rod.

Further, the waist securing assembly comprises: the first connecting rod is connected with the bracket; and the waist fixing piece is arranged on the bracket and is matched with the bracket so as to be fixedly connected with the waist.

Furthermore, the hip joint module comprises two first thigh fixing assemblies and two connecting rod assemblies, the first thigh fixing assemblies and the connecting rod assemblies are arranged in a one-to-one correspondence mode, the two first thigh fixing assemblies and the two connecting rod assemblies are arranged symmetrically to the support, the hip joint module further comprises an adjusting mechanism, the adjusting mechanism is arranged between the first connecting rods and the support, and the adjusting mechanism is used for adjusting the distance between the two first connecting rods.

Further, the adjustment mechanism includes: the gear is positioned in the middle of the bracket and can be rotatably arranged on the bracket; the two racks are respectively meshed with the gear, are symmetrically arranged on two sides of the gear, and are correspondingly connected with the two first connecting rods one by one; the locking piece is arranged on the gear and has a locking state and an unlocking state for locking the gear.

Further, the adjustment mechanism further comprises: the sliding block is arranged between the rack and the first connecting rod; the guide rail is arranged on the bracket, and the sliding block is movably arranged in the guide rail.

Further, the ankle module further includes: the power-assisted assembly is rotatably arranged between the first end of the first shank fixing assembly and the foot fixing assembly, has a power storage state and a release state, and is in the power storage state under the condition that the foot supports stress; in the event that the foot is pedalling to apply a force, the power assist assembly is in a released state.

Further, the helping hand subassembly includes: one end of the rotating component is connected with the foot fixing component; the one end of torsional spring is fixed to be set up, and the other end of torsional spring is connected with rotating assembly's the other end, and rotating assembly and torsional spring cooperation are so that helping hand subassembly switch between holding power state and release state.

Further, the rotating assembly includes: the first rotating piece is provided with a first end face and a second end face which are oppositely arranged, the first end face is connected with the foot fixing component, and the second end face is eccentrically provided with a first driving protrusion; the second rotating piece is coaxial with the first rotating piece and provided with a third end face and a fourth end face which are arranged oppositely, the third end face is arranged corresponding to the second end face, the fourth end face is connected with the torsion spring, and a second driving protrusion is arranged on the third end face corresponding to the first driving protrusion.

Further, the first lower leg fixation assembly comprises: the shell assembly is provided with an installation cavity, and the first rotating piece and the second rotating piece are arranged in the installation cavity and are respectively positioned at two sides of the shell assembly; the supporting piece is provided with a first end and a second end which are oppositely arranged, the first end of the supporting piece is connected with the shell assembly, and the second end of the supporting piece extends towards the direction far away from the foot fixing assembly along the vertical direction; a first calf fastener disposed at an end of the support member distal from the shell assembly, the first calf fastener being capable of securing the support member to a leg.

Further, the ankle module further includes: the limiting structure is arranged between the first rotating part and the shell assembly, and/or the limiting structure is arranged between the second rotating part and the shell assembly.

Further, the housing assembly includes: the main body is of a hollow structure; the first end cover and the second end cover are respectively located on two sides of the main body, the first end cover, the main body and the second end cover are matched to form an installation cavity, the first end cover is located on one side, close to the first rotating piece, of the main body, and the second end cover is located on one side, close to the second rotating piece, of the main body.

Furthermore, the side wall of the main body is provided with a first limiting bulge, and the first limiting bulge can be matched with the first driving bulge for limiting so as to limit the rotating range of the first rotating piece relative to the main body; and/or one side of the second end cover, which faces the second rotating part, is provided with an arc-shaped limiting groove, a second limiting bulge is arranged on the fourth end surface, the second limiting bulge is positioned in the arc-shaped limiting groove, and the second limiting bulge is matched with the arc-shaped limiting groove to limit the rotating range of the second rotating part relative to the second end cover.

Further, the middle part of second terminal surface has the support column, and the middle part of third terminal surface is provided with the mounting hole, and the ankle joint module still includes: the first bearings are arranged between the first rotating piece and the shell assembly and between the second rotating piece and the shell assembly; the second bearing is arranged in the mounting hole, and the support column penetrates through the second bearing.

Further, the second end of the support extends to the front side of the leg.

Further, the ankle module further includes: the detection piece can detect the rotation angle of the foot fixing component relative to the first lower leg fixing component.

Furthermore, the second thigh fixing component comprises a first supporting rod and a second thigh fixing part, the second thigh fixing part is fixed at one end of the first supporting rod, and the second thigh fixing part can be fixedly connected with a thigh; the second shank fixing component comprises a second supporting rod and a second shank fixing piece, the second shank fixing piece is fixed at one end of the second supporting rod, the second shank fixing piece can be fixedly connected with a shank, the other end of the first supporting rod is rotatably connected with the other end of the second supporting rod, and part of the first supporting rod is positioned behind the leg and/or part of the second supporting rod is positioned behind the leg.

Further, one end of the first supporting rod, which is far away from the second thigh fixing part, is positioned at the side part of the leg, and one end of the second supporting rod, which is far away from the second shank fixing part, is positioned at the side part of the leg.

Furthermore, the second thigh fixing part comprises a first fixing seat and a first binding band, the first fixing seat is fixedly connected with the end part of the first supporting rod, the first fixing seat is positioned behind the leg part, and the first fixing seat is matched with the first binding band to fix the thigh; the second shank fixing piece comprises a second fixing seat and a second binding band, the second fixing seat is fixedly connected with the end part of the second supporting rod, the second fixing seat is located behind the leg, and the second fixing seat is matched with the second binding band to fix the shank.

Further, the first supporting rod extends upwards from the side part of the leg part to the back part of the leg part in a spiral mode; and/or the second support rod spirally extends upwards from the rear part of the leg part to the side part of the leg part.

Further, the knee joint module further comprises: and the limiting structure is arranged between the first supporting rod and the second supporting rod, and can limit the relative rotation angle of the first supporting rod and the second supporting rod.

Further, the arrangement position of the first thigh fixing component is lower than that of the second thigh fixing component, and the arrangement position of the first shank fixing component is higher than that of the second shank fixing component.

Furthermore, the hip joint module also comprises a hip joint driving component, the hip joint driving component is arranged between the waist fixing component and the first thigh fixing component, and the hip joint driving component can drive the first thigh fixing component to swing in the front-back direction relative to the waist fixing component; the knee joint module further comprises a knee joint driving assembly, the knee joint driving assembly is arranged between the second thigh fixing assembly and the second shank fixing assembly, and the knee joint driving assembly can drive the second thigh fixing assembly and the second shank fixing assembly to rotate relatively.

By applying the technical scheme of the invention, the lower limb exoskeleton device comprises a hip joint module, an ankle joint module and a knee joint module which are mutually independent, the first thigh fixing component and the second thigh fixing component are arranged in a staggered manner, and the first shank fixing component and the second shank fixing component are arranged in a staggered manner, so that the wearing difficulty of a wearer can be reduced, and the wearer can conveniently wear the modules respectively; moreover, the modules are arranged in a staggered mode, interference cannot be caused, the degree of freedom of the device is improved, and a wearer can move more flexibly and freely to adapt to more complex motion scenes.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 illustrates a front side view of a lower extremity exoskeleton device provided in accordance with an embodiment of the present invention;

figure 2 illustrates a rear side view of a lower extremity exoskeleton device provided in accordance with an embodiment of the present invention;

FIG. 3 shows a perspective view of a hip joint module provided according to an embodiment of the present invention;

FIG. 4 illustrates a rear view of a hip joint module provided in accordance with an embodiment of the present invention;

FIG. 5 shows a left side view of a hip joint module provided in accordance with an embodiment of the present invention;

FIG. 6 illustrates a schematic structural diagram of an ankle module provided by an embodiment of the invention;

FIG. 7 illustrates a wearing diagram of an ankle module provided by an embodiment of the invention;

FIG. 8 illustrates a side view of an ankle module provided by an embodiment of the invention;

FIG. 9 shows a cross-sectional view at A-A in FIG. 8;

FIG. 10 illustrates an exploded view of an ankle module provided by an embodiment of the present invention;

FIG. 11 is a schematic diagram of a knee joint module provided in an embodiment of the present invention;

FIG. 12 illustrates a side view of a knee joint module provided by an embodiment of the present invention.

Wherein the figures include the following reference numerals:

100. a hip joint module; 110. a waist securing assembly; 111. a support; 112. a waist fixing member; 120. a first thigh securing assembly; 121. a hip joint support bar; 122. a first thigh securing member; 130. a rotating mechanism; 131. a first mating member; 132. a second mating member; 141. a first connecting rod; 142. a second connecting rod; 151. a gear; 152. a rack; 153. a locking member; 160. a hip drive assembly;

200. an ankle joint module; 210. a foot securing assembly; 211. a foot support; 212. connecting the side plates; 213. a foot fixing member; 220. a first shank fixation assembly; 221. a housing assembly; 2211. a main body; 2212. a first end cap; 2213. a second end cap; 222. a support member; 223. a first shank securing member; 231. a torsion spring; 232. a first rotating member; 232a, a first end surface; 232b and a second end face; 2321. a first drive projection; 2322. a support pillar; 233. a second rotating member; 233a, a third end face; 233b, a fourth end face; 2331. a second drive projection; 2332. mounting holes; 241. a first limit protrusion; 242. an arc-shaped limiting groove; 243. a second limit bulge; 250. a first bearing; 260. a second bearing; 270. a connecting flange; 281. a magnet; 282. a PCB board;

300. a knee joint module; 310. a second thigh securing assembly; 311. a first support bar; 312. a second thigh mount; 3121. a first fixed seat; 3122. a first strap; 320. a second shank fixation assembly; 321. a second support bar; 322. a second shank securing member; 3221. a second fixed seat; 3222. a second strap; 330. a knee joint drive assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-3, the present application provides a lower extremity exoskeleton device comprising: a hip joint module 100, an ankle joint module 200, and a knee joint module 300. The hip joint module 100 includes a waist fixing component 110 and a first thigh fixing component 120, the first thigh fixing component 120 includes a hip joint support rod 121, a first thigh fixing component 122 and a rotation mechanism 130, the first thigh fixing component 122 is used for fixing with a leg, the rotation mechanism 130 is located between the hip joint support rod 121 and the first thigh fixing component 122, the hip joint support rod 121 has a first end and a second end which are oppositely arranged, the first end of the hip joint support rod 121 is rotatably connected with the waist fixing component 110, the hip joint support rod 121 can swing in the front-back direction relative to the waist fixing component 110, the second end of the hip joint support rod 121 is connected with the rotation mechanism 130, and the first thigh fixing component 122 can rotate in the horizontal direction relative to the hip joint support rod 121 through the rotation mechanism 130. The ankle module 200 includes a foot securing assembly 210 and a first lower leg securing assembly 220, the foot securing assembly 210 being pivotally connected to the first lower leg securing assembly 220. The knee joint module 300 includes a second thigh link assembly 310 and a second shank link assembly 320, the second thigh link assembly 310 being pivotally connected to the second shank link assembly 320. In the present application, the hip joint module 100, the ankle joint module 200, and the knee joint module 300 are independent of each other, so that it is possible to facilitate the wearer to carry each module individually, and to facilitate the wearer to wear each module, reducing the wearing difficulty of the wearer. The first and second thigh attachment assemblies 120, 310 are offset and the first and second shank attachment assemblies 220, 320 are offset. Therefore, the mutual interference of all module parts can be avoided, and the free walking of the wearer is influenced.

According to the technical scheme provided by the application, the lower limb exoskeleton device comprises a hip joint module 100, an ankle joint module 200 and a knee joint module 300 which are mutually independent, a first thigh fixing component 120 and a second thigh fixing component 310 are arranged in a staggered mode, and a first shank fixing component 220 and a second shank fixing component 320 are arranged in a staggered mode, so that the wearing difficulty of a wearer can be reduced, and the wearer can conveniently wear the modules respectively; moreover, the modules are arranged in a staggered mode, interference cannot be caused, the degree of freedom of the device is improved, and a wearer can move more flexibly and freely to adapt to more complex motion scenes.

Specifically, the first thigh securing assembly 120 can be positioned lower than the second thigh securing assembly 310, and the first lower leg securing assembly 220 can be positioned higher than the second lower leg securing assembly 320. So can make crisscross the arrangement between each module, can avoid each module mutual interference like this, can follow again that the low limbs is whole to be given the support, supplementary the wearing person walks.

Wherein hip module 100 further comprises a hip drive assembly 160, hip drive assembly 160 being disposed between waist fixation assembly 110 and first thigh fixation assembly 120, hip drive assembly 160 being capable of driving first thigh fixation assembly 120 to oscillate in a front-rear direction relative to waist fixation assembly 110. The knee joint module 300 further comprises a knee joint driving assembly 330, the knee joint driving assembly 330 is disposed between the second thigh fixing assembly 310 and the second lower leg fixing assembly 320, and the knee joint driving assembly 330 can drive the second thigh fixing assembly 310 and the second lower leg fixing assembly 320 to rotate relatively. By arranging the hip joint driving component 160 and the knee joint driving component 330, the force of the wearer can be assisted, and the exercise load of the wearer can be reduced.

In the present application, referring to fig. 1, the front-back direction is the direction of the X axis, and the left-right direction is the direction of the Y axis, and the first thigh fixing member 122 rotates in the horizontal direction relative to the hip joint supporting rod 121, that is, the first thigh fixing member 122 rotates with the Z axis as the axis.

With the hip joint module 100 provided herein, the rotating mechanism 130 is provided between the hip joint support rod 121 and the first thigh holder 122 so that the first thigh holder 122 can rotate in the horizontal direction with respect to the hip joint support rod 121, so that the wearer can perform internal/external rotation of his hip joint after wearing it; by rotatably connecting the first end of the hip stay 121 to the lumbar fixation assembly 110, the hip stay 121 can swing in the anterior-posterior direction with respect to the lumbar fixation assembly 110, thus allowing the hip joint to perform flexion/extension movements. Through the technical scheme that this application provided can satisfy 2 degrees of freedom of hip joint, make things convenient for the wearing person to carry out internal rotation/external rotation, bucking/extension motion, enlarged the home range of wearing person, improved the travelling comfort and the flexibility that the module was dressed.

As shown in fig. 5, the rotating mechanism 130 includes a first fitting member 131 and a second fitting member 132. The first fitting 131 is fixed to the second end of the hip joint support bar 121, the second fitting 132 is movably connected to the first fitting 131, the second fitting 132 is fixed to the first thigh fixing member 122, and the first thigh fixing member 122 is engaged with the second fitting 132 through the first fitting 131 to rotate in the horizontal direction with respect to the hip joint support bar 121.

Specifically, the first mating member 131 and the second mating member 132 may be two sliding blocks capable of sliding relatively, a ball is disposed between the first mating member 131 and the second mating member 132 to realize the relative sliding therebetween, and the first mating member 131 and the second mating member 132 are disposed in an arc-shaped structure to realize the rotation of the first thigh fixing member 122 relative to the hip joint supporting rod 121 in the horizontal direction.

Of course, it is also possible to provide one of the first fitting member 131 and the second fitting member 132 as a guide rail, the other one of the first fitting member 131 and the second fitting member 132 as a slider, the guide rail as an arc, and the slider movably disposed in the arc guide rail, so that the first thigh fixing member 122 can rotate in the horizontal direction with respect to the hip joint supporting bar 121.

The hip joint module 100 further includes a link assembly disposed between the lumbar fixing component 110 and a first end of the hip joint support rod 121, and the hip joint support rod 121 can swing in the left-right direction relative to the lumbar fixing component 110 through the link assembly. Through the structure, the hip joint of a wearer can perform adduction/abduction movement, so that the hip joint can move in 3 degrees of freedom, the flexibility and the comfort of the module are further improved, and the hip joint is convenient for the wearer to use. And moreover, the movement is realized by utilizing the connecting rod assembly, the structure is simple, and the design and the installation are convenient.

Specifically, this link assembly includes: a first connecting rod 141 and a second connecting rod 142. One end of the first connecting rod 141 is connected to the lumbar fixing component 110, the other end of the first connecting rod 141 is hinged to one end of the second connecting rod 142, and the other end of the second connecting rod 142 is connected to the first end of the hip joint supporting rod 121. In this way, the second connecting rod 142 can swing relative to the first connecting rod 141, and thus the first thigh fixing assembly 120 can swing in the left-right direction relative to the waist fixing assembly 110.

The first connecting rod 141 and the waist fixing component 110 may be fixedly connected or hinged. In this embodiment, the first connecting rod 141 and the waist fixing component 110 are fixedly connected, so as to limit the swing range of the second connecting rod 142, and further limit the moving range of the first thigh fixing component 120 relative to the waist fixing component 110, thereby improving the stability of the module structure and avoiding the injury of the wearer due to excessive movement.

The waist securing assembly 110 includes: a bracket 111 and a lumbar mount 112. The first connecting rod 141 is connected with the bracket 111, the lumbar fixing member 112 is disposed on the bracket 111, and the lumbar fixing member 112 is engaged with the bracket 111 to be fixedly connected with the lumbar region. The lumbar mount 112 may be provided as a strap. The waist fixing part is fixed with the waist through the bracket 111 and the waist fixing part 112, the structure is simple, and the wearing of a wearer is facilitated.

Specifically, the hip joint module 100 includes two first thigh fixing assemblies 120 and two link assemblies, the first thigh fixing assemblies 120 and the link assemblies are arranged in a one-to-one correspondence, and the two first thigh fixing assemblies 120 and the two link assemblies are both arranged symmetrically to the bracket 111.

As shown in fig. 4, the hip joint module 100 further includes an adjusting mechanism disposed between the first connecting rods 141 and the bracket 111, and the adjusting mechanism is used for adjusting the distance between the two first connecting rods 141. Through setting up adjustment mechanism, can improve module and wearer's suitability to adjust the interval of two first thigh fixed subassemblies 120 according to the different stature sizes of wearer, in order to adapt to different wearing crowds.

Specifically, this adjustment mechanism includes: a gear 151 and two racks 152. The gear 151 is located in the middle of the bracket 111, the gear 151 is rotatably disposed on the bracket 111, the two racks 152 are respectively engaged with the gear 151, the two racks 152 are symmetrically disposed on two sides of the gear 151, and the two racks 152 are correspondingly connected to the two first connecting rods 141 one by one. Through the above structure cooperation, the two racks 152 can synchronously move in opposite directions or in opposite directions by the rotating gear 151, so that the centers of the two first thigh fixing assemblies 120 can always coincide with the center of the waist fixing assembly 110, and the whole module is always in a symmetrical structure.

Wherein the adjusting mechanism further comprises a locking member 153, the locking member 153 is disposed on the gear 151, and the locking member 153 has a locking state and an unlocking state for locking the gear 151. The gear 151 can be fixed by the locking member 153 without adjusting the distance between the two first connecting rods 141 by the locking member 153, so that the gear 151 is prevented from rotating freely. Specifically, the locking member 153 is provided as an expansion sleeve, the expansion sleeve is sleeved on the gear 151, and the expansion sleeve is used for locking or unlocking the gear 151, so that the locking member is simple in structure and convenient for locking the gear 151.

In this embodiment, the adjustment mechanism further includes: a slide block and a guide rail. The sliding block is disposed between the rack 152 and the first connecting rod 141, the rack 152 is connected to the first connecting rod 141 through the sliding block, the guide rail is disposed on the bracket 111, and the sliding block is movably disposed in the guide rail. The guide rail may be a separate structure, or a through groove may be provided on the bracket 111, and the through groove is used as the guide rail. By using the structure, guidance can be provided for the first connecting rod 141 and the rack 152, so that the first connecting rod 141 and the rack 152 can move smoothly relative to the bracket 111, and the stability of the whole module is improved.

Specifically, the hip joint module 100 further includes a hip joint driving assembly 160, the hip joint driving assembly 160 is disposed between the second connecting rod 142 and the first end of the hip joint supporting rod 121, and the hip joint driving assembly 160 is capable of driving the hip joint supporting rod 121 to swing in the front-back direction relative to the lumbar fixing assembly 110. By arranging the hip joint driving assembly 160, power can be provided for the hip joint supporting rod 121 to swing in the front-back direction relative to the waist fixing assembly 110, so that the movement of the wearer is assisted, and the movement load of the wearer is reduced.

With the hip joint module 100 according to the present invention, the second link 142 and the hip joint support rod 121 are rotatably connected to each other, so that flexion and extension of the hip joint can be achieved, the first link 141 and the second link 142 are hinged to each other, so that adduction and abduction of the hip joint can be achieved, and the first thigh holder 122 and the hip joint support rod 121 are rotatably connected to each other via the rotating mechanism 130, so that internal rotation and external rotation of the hip joint can be achieved. The motion requirement of 3 degrees of freedom of hip joint has been satisfied through above-mentioned structure, makes the wearing person can nimble motion after dressing, has improved the travelling comfort and the flexibility of module, and above-mentioned module simple structure, and the wearing person of being convenient for dresses, and its low in manufacturing cost.

As shown in fig. 6 and 7, the ankle module 200 further includes a power assisting assembly rotatably disposed between the first end of the first lower leg fixing assembly 220 and the foot fixing assembly 210, the power assisting assembly having a power accumulating state and a releasing state, and in case of a force applied to the foot support, the power assisting assembly is in the power accumulating state; in the event that the foot is pedalling to apply a force, the power assist assembly is in a released state.

The power assisting assembly is arranged between the first shank fixing assembly 220 and the foot fixing assembly 210, the power assisting assembly has a power accumulating state and a releasing state, when the foot supports and is stressed, the power assisting assembly can accumulate power to store energy, so that when the ankle is stressed, the power assisting assembly can buffer the ankle, and the stress on the ankle is reduced; when the foot pedals the ground to exert force, can release energy through helping hand subassembly, can assist the ankle and exert force like this, reduce the self power of exerting force of ankle. Can slow down the atress of ankle through above-mentioned module to can assist the ankle to exert oneself the walking, metabolism consumption when so can reducing the wearing person walking has alleviateed wearing person walking load.

Wherein, the helping hand subassembly can constitute through elastic component and other transmission structure. Specifically, as shown in fig. 8 to 10, the boosting assembly includes: a rotating assembly and a torsion spring 231. One end of the rotating component is connected to the foot fixing component 210, and one end of the torsion spring 231 is fixedly disposed, specifically, fixed to the first lower leg fixing component 220. The other end of the torsion spring 231 is connected to the other end of the rotating assembly, which cooperates with the torsion spring 231 to switch the power assist assembly between the power storage state and the release state. Specifically, when the ankle is compressed by force, the included angle between the leg and the ankle is changed from a right-angle state to an acute angle, and in the process, the foot fixing component 210 drives the rotating component to rotate, so that the rotating component compresses the torsion spring 231, and the torsion spring 231 stores energy; when the ankle is changed from the state of being compressed by force to the state of pedaling the ground to exert force, the included angle between the leg and the ankle is changed from an acute angle to a right angle, and at the moment, the torsion spring 231 is not compressed by force any more and then can reversely release energy, namely, the torsion spring 231 reversely drives the rotating component, so that the rotating component drives the foot fixing component 210 to reversely rotate. The power-assisted assembly can be switched between the power storage state and the release state through the structure, and the scheme has the advantages of simple structure, convenience in installation and operation and low manufacturing cost.

Specifically, this rotating assembly includes: a first rotating member 232 and a second rotating member 233. The first rotating member 232 and the second rotating member 233 are coaxially disposed, the first rotating member 232 has a first end surface 232a and a second end surface 232b disposed opposite to each other, the first end surface 232a is connected to the foot fixing component 210, and the second end surface 232b is eccentrically disposed with a first driving protrusion 2321. The second rotating member 233 has a third end surface 233a and a fourth end surface 233b opposite to each other, the third end surface 233a is disposed corresponding to the second end surface 232b, the fourth end surface 233b is connected to the torsion spring 231, and the third end surface 233a has a second driving protrusion 2331 corresponding to the first driving protrusion 2321. With the above structure, when the ankle is compressed and stressed, the foot fixing component 210 drives the first rotating member 232 to rotate, the first rotating member 232 is matched with the second driving protrusion 2331 through the first driving protrusion 2321 to drive the second rotating member 233 to rotate synchronously, the second rotating member 233 compresses the torsion spring 231 during the rotation process, and at this time, the power storage state of the power assisting component can be completed; when the ankle is kicked to exert a force, the foot fixing member 210 reversely rotates, and the torsion spring 231 is not constrained by pressure, so as to drive the second rotating member 233 to reversely rotate, and the second rotating member 233 drives the first rotating member 232 to reversely rotate through the cooperation of the second driving protrusion 2331 and the first driving protrusion 2321, so that the releasing state of the power assisting assembly can be completed.

In this embodiment, the rotating assembly includes a first rotating member 232 and a second rotating member 233, which are mutually engaged, so that the range of the first rotating member 232 and the second rotating member 233 can be conveniently adjusted, the first rotating member 232 can rotate in cooperation with the second rotating member 233 only when rotating to the position where the first rotating member 233 is engaged, and the ankle is prevented from affecting the torsion spring 231 in other states except for the state of being stressed or stressed, so as to improve the power assisting effect of the power assisting assembly. Moreover, the installation can be convenient for disassembly and assembly, and a certain part can be conveniently replaced during maintenance.

In this embodiment, the cross-sections of the first driving protrusion 2321 and the second driving protrusion 2331 are both fan-shaped structures, and when the first rotating member 232 and the second rotating member 233 rotate synchronously, the side wall of the first driving protrusion 2321 is correspondingly attached to the side wall of the second driving protrusion 2331.

Wherein the first lower leg securing assembly 220 comprises: a shell assembly 221, a support 222, and a first lower leg mount 223. The housing assembly 221 has a mounting cavity, and the first rotating member 232 and the second rotating member 233 are disposed in the mounting cavity and located at two sides of the housing assembly 221, respectively. The supporting member 222 has a first end and a second end, the first end of the supporting member 222 is connected to the shell assembly 221, and the second end of the supporting member 222 extends in a vertical direction away from the foot fixing assembly 210, so as to support the leg portion by the supporting member 222. A first calf fastener 223 is disposed at an end of the strut member 222 remote from the shell assembly 221, the first calf fastener 223 being able to secure the strut member 222 to the leg.

To facilitate securing the legs, the second end of the support 222 can be provided as an arcuate plate to place the legs in the area enclosed by the arcuate plate, and then the legs and arcuate plate can be secured together using the first calf fastener 223. Specifically, the first lower leg fixing member 223 may be provided as a strap.

The ankle module 200 further includes a limiting structure disposed between the first rotating member 232 and the shell assembly 221, and/or a limiting structure disposed between the second rotating member 233 and the shell assembly 221. The rotation ranges of the first rotating member 232 and the second rotating member 233 can be limited by providing the limiting structure to adapt to the rotation range of the ankle of the human body.

Specifically, the housing assembly 221 includes: a body 2211, a first end cap 2212, and a second end cap 2213. The main body 2211 is a hollow structure, the first end cap 2212 and the second end cap 2213 are respectively located on two sides of the main body 2211, the first end cap 2212, the main body 2211 and the second end cap 2213 are matched to form a mounting cavity, the first end cap 2212 is located on one side of the main body 2211 close to the first rotating member 232, and the second end cap 2213 is located on one side of the main body 2211 close to the second rotating member 233. With the above-described structure, it is possible to facilitate the mounting of the first rotating member 232 and the second rotating member 233 in the housing assembly 221.

As shown in fig. 10, the side wall of the main body 2211 is provided with a first limiting protrusion 241, and the first limiting protrusion 241 can cooperate with the first driving protrusion 2321 to limit the rotation range of the first rotating member 232 relative to the main body 2211. Specifically, in this embodiment, two first limiting protrusions 241 are circumferentially spaced on the side wall of the main body 2211, so that the first rotating member 232 can only rotate in the area between the two first limiting protrusions 241. The first rotating member 232 is limited by the limiting structure formed by the first limiting protrusion 241 and the first driving protrusion 2321, and the structure is simple, so that the first rotating member 232 can be prevented from excessively rotating, and further the ankle can be prevented from being damaged.

Specifically, one side of the second end cap 2213 facing the second rotating member 233 is provided with an arc-shaped limiting groove 242, the fourth end surface 233b is provided with a second limiting protrusion 243, the second limiting protrusion 243 is located in the arc-shaped limiting groove 242, and the second limiting protrusion 243 is matched with the arc-shaped limiting groove 242 to limit the rotating range of the second rotating member 233 relative to the second end cap 2213. The second rotating member 233 is limited by the limiting structure formed by the arc-shaped limiting groove 242 and the second limiting protrusion 243, and the structure is simple and can prevent the second rotating member 233 from excessively rotating.

Specifically, the ankle module 200 further includes a first bearing 250, and the first bearing 250 is disposed between the first rotating member 232 and the housing assembly 221 and between the second rotating member 233 and the housing assembly 221. By providing the first bearing 250, the first rotating member 232 and the second rotating member 233 can be rotated stably with respect to the housing assembly 221. Specifically, the first bearing 250 may be a deep groove ball bearing.

In this embodiment, the middle portion of the second end surface 232b has a supporting pillar 2322, the middle portion of the third end surface 233a is provided with a mounting hole 2332, the ankle module 200 further includes a second bearing 260, the second bearing 260 is disposed in the mounting hole 2332, and the supporting pillar 2322 is disposed in the second bearing 260 in a penetrating manner. Through setting up second bearing 260, can make first rotation piece 232 and second rotation piece 233 overlap joint together, so can increase module overall structure intensity, improve bending moment resistance effect.

The ankle module 200 further includes a coupling flange 270, the coupling flange 270 being disposed between the first end surface 232a and the foot securing member 210. The connecting flange 270 is provided to facilitate the connection and fixation of the first rotating member 232 and the foot fixing component 210.

The second end of the supporting member 222 may be located at the rear of the leg or at the side of the leg. In this embodiment, the second end of the supporting member 222 extends to the front side of the leg, so as to improve the supporting effect of the supporting member 222 on the leg, and enable the wearer to walk stably.

The foot fixing assembly 210 includes: a foot support 211, a connecting side plate 212, and a foot fixing member 213. Wherein, foot support 211 is used for placing the foot, connects the curb plate 212 setting in one side of foot support 211, and the first end of the fixed subassembly 220 of first shank is connected curb plate 212 rotatable with being connected, connects curb plate 212 through setting up, can be convenient for the fixed subassembly 220 of first shank and be connected with foot support 211. The foot fixing 213 is disposed on the foot support 211, and the foot fixing 213 cooperates with the foot support 211 to fix the foot. Specifically, the foot fixing member 213 may be provided as a strap.

In this embodiment, the ankle module 200 further includes a detecting element, which is capable of detecting the rotation angle of the foot fixing component 210 relative to the first lower leg fixing component 220 by the detecting element, so as to dynamically observe the ankle of the wearer. Specifically, the detecting member includes a magnet 281 and a PCB 282, the magnet 281 is disposed on the second rotating member 233, and the PCB 282 is fixed on the second end cap 2213, so that the rotation angle of the magnet 281 is sensed by the PCB 282.

Through the ankle joint module 200 provided by the present application, the limit structure is used to limit the rotation range of the first rotating member 232 and the second rotating member 233, so that the ankle can be under the compression stress and other states of force application by pedaling, and when the ankle is under the compression stress, the angle between the leg and the foot can be changed from a right angle to an acute angle, at this time, the foot fixing component 210 drives the first rotating member 232 to rotate, the first rotating member 232 is matched with the second driving protrusion 2331 through the first driving protrusion 2321 to drive the second rotating member 233 to rotate, and the second rotating member 233 compresses the torsion spring 231 in the rotation process, so that the torsion spring 231 stores energy, and through the structural matching, the ankle can be buffered, and the load on the ankle can be reduced; when the ankle pedals the ground to exert force, the angle between the leg and the foot is changed from an acute angle to a right angle, at this time, the first rotating member 232 and the second rotating member 233 exert force, the torsion spring 231 exerts force in the opposite direction to restore the original state, at this time, the torsion spring 231 drives the second rotating member 233 to rotate in the opposite direction, the second rotating member 233 drives the first rotating member 232 to rotate in the opposite direction through the cooperation of the second driving protrusion 2331 and the first driving protrusion 2321, so that the first rotating member 232 drives the foot fixing component 210 to rotate in the opposite direction, the acting force of the torsion spring 231 can be transmitted to the foot, the foot is assisted to pedal the ground to exert force, and the force exerted by the foot. Can reduce the ankle load through above-mentioned structure, reduce the metabolism consumption of wearing person under the natural walking, play laborsaving purpose, make things convenient for the wearing person to walk.

As shown in fig. 11 and 12, the second thigh fixing assembly 310 includes a first supporting rod 311 and a second thigh fixing member 312, the second thigh fixing member 312 is fixed to one end of the first supporting rod 311, and the second thigh fixing member 312 can be fixedly connected to the thigh. The second lower leg fixing assembly 320 comprises a second supporting rod 321 and a second lower leg fixing piece 322, the second lower leg fixing piece 322 is fixed at one end of the second supporting rod 321, the second lower leg fixing piece 322 can be fixedly connected with the lower leg, and the other end of the first supporting rod 311 is rotatably connected with the other end of the second supporting rod 321. The first support rod 311 and the second support rod 321 can support the legs, a part of the first support rod 311 can be disposed behind the legs, a part of the second support rod can be disposed behind the legs, and a part of the first support rod 311 and a part of the second support rod 321 can be disposed behind the legs, so that the rear sides of the legs can be supported through the first support rod and the second support rod. In the present embodiment, a part of the first support bar 311 and a part of the second support bar 321 are disposed at the rear of the leg to improve the supporting effect on the rear side of the leg.

Set up part first bracing piece 311 and/or part second bracing piece 321 in the shank rear, can support the shank rear like this, according to human shank structure, it is thigh and shank bending stress at the rear when the shank atress is crooked, consequently can directly support the shank rear side with first bracing piece and/or the design of second bracing piece portion at the shank rear side, and its supporting effect is better, more stable. Moreover, the knee joint module 300 provided by the application is simple in structure, convenient to wear and low in manufacturing cost.

Specifically, the end of the first supporting rod 311 away from the second thigh fixing part 312 is located at the leg side, and the end of the second supporting rod 321 away from the second shank fixing part 322 is located at the leg side, so as to avoid the interference between the first supporting rod 311 and the leg when the first supporting rod 321 and the second supporting rod 321 rotate relatively, and provide enough space for the relative rotation of the first supporting rod 311 and the second supporting rod 321.

In this application, the first supporting rod 311 and the second supporting rod 321 are only disposed on one side of the leg, specifically, one end of the first supporting rod 311 away from the second thigh fixing member 312 is disposed on the outer side of the leg, and one end of the second supporting rod 321 away from the second shank fixing member 322 is disposed on the outer side of the leg. Through the structure, interference between the support rods positioned on the inner sides of the legs when the two legs are crossed to walk can be avoided while the support strength is ensured, and normal walking of a wearer is influenced.

The knee joint module 300 further includes a knee joint driving component 330, the knee joint driving component 330 is disposed between the first supporting rod 311 and the second supporting rod 321, and the knee joint driving component 330 can drive the first supporting rod 311 and the second supporting rod 321 to rotate relatively. Through setting up knee joint drive assembly 330, can assist first bracing piece 311 and second bracing piece 321 to rotate through knee joint drive assembly 330, and then can assist the wearer to carry out actions such as leg lifting, bending, improved the result of use of module.

Specifically, the knee joint driving assembly 330 includes: casing, motor, reduction gear, encoder and torque sensor. Wherein, the casing is fixed in on first bracing piece 311, and motor, reduction gear, encoder and torque sensor all are located the casing, and the one end and the motor of reduction gear are connected, and the other end and the drive of second bracing piece 321 of reduction gear are connected, can increase the drive moment of motor through the reduction gear, improve the drive effect. The encoder can detect a relative rotation angle of the first support bar 311 and the second support bar 321, and the torque sensor can detect an interaction torque of the first support bar 311 and the second support bar 321. The motion condition and the stress condition of the module can be detected in real time by arranging the encoder and the torque sensor.

The second thigh mount 312 and the second shank mount 322 may be provided as a clip, strap, or other securing structure. In this embodiment, the second thigh fixing part 312 includes a first fixing seat 3121 and a first strap 3122, the first fixing seat 3121 is fixedly connected to the end of the first supporting rod 311, the first fixing seat 3121 is located behind the leg, the first fixing seat 3121 is a curved structure, and the first fixing seat 3121 cooperates with the first strap 3122 to fix the thigh. The second lower leg fixing part 322 comprises a second fixing seat 3221 and a second binding band 3222, the second fixing seat 3221 is fixedly connected with the end part of the second support rod 321, the second fixing seat 3221 is located behind the leg, the second fixing seat 3221 is of a curved structure, and the second fixing seat 3221 is matched with the second binding band 3222 to fix the lower leg.

By providing the first fixing seat 3121 and the second fixing seat 3221 as curved structures, the first fixing seat 3121 and the second fixing seat 3221 may be attached to the leg portion to improve the stability of the fixing connection. Connect fixedly to the shank through bandage and fixing base complex mode, the person of can being convenient for dresses to can guarantee with the fixed effect and the joint strength of shank.

The first support bar 311 and the second support bar 321 may extend from the side of the leg to the rear of the leg by a bending structure. In the present embodiment, the first support rod 311 extends spirally upward from the side of the leg to the rear of the leg; and/or the second support bar 321 extends spirally upward from the rear part of the leg part to the side part of the leg part. The first support rod 311 and the second support rod 321 are designed to be spiral structures, and can be supported annularly along the periphery of the leg, so that the support range of the support rods is enlarged, the internal stress of the structure is smaller, and the support strength and the service life of the module can be improved. Its simple structure of above-mentioned design, the production and processing of being convenient for to can simplify modular structure, reduce the whole weight of module, and then can reduce the wearing burden of wearer.

Specifically, the knee joint module 300 further includes a limiting structure disposed between the first support rod 311 and the second support rod 321, and the limiting structure can limit the relative rotation angle of the first support rod 311 and the second support rod 321. Through setting up limit structure, can make first bracing piece 311 and second bracing piece 321 relative rotation angle restriction at the reasonable rotation range of human knee joint, avoid causing the harm to the knee joint because first bracing piece 311 and second bracing piece 321 excessively rotate. The limiting structure may be disposed on the first support rod 311 and the second support rod 321, or disposed in the motor or the speed reducer, as long as the rotation angles of the first support rod 311 and the second support rod 321 can be limited.

Through the knee joint module 300 provided by the application, the fixing piece is fixedly connected with the leg, and the supporting rod is used for supporting the leg. The supporting rod part is arranged at the rear of the leg part, so that the leg part can be effectively supported, the supporting effect of the module on the leg part is improved, and the load of the knee joint of a wearer is reduced. Moreover, the module is simple in structure, convenient to process and wear, the supporting effect of the periphery of the leg can be improved by designing the supporting rod into a spiral structure, the supporting range of the periphery of the leg is enlarged, and the knee joint can be effectively protected.

By the lower limb exoskeleton device, the lower limb exoskeleton device is divided into a plurality of modules which are independently arranged, correlation among the modules is not interfered, and a wearer can move more freely and flexibly to adapt to more complex motion scenes; due to the characteristic of modular design, the device is convenient to wear and transport; and can satisfy the crowd of different low limbs size, and need not adjust the length of big shank and shank to adapt to, simplified structure and wearing process.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A lower extremity exoskeleton device, said lower extremity exoskeleton device comprising:

a hip joint module (100), the hip joint module (100) comprising a waist fixing component (110) and a first thigh fixing component (120), the first thigh fixing component (120) comprising a hip joint support rod (121), a first thigh fixing component (122) and a rotating mechanism (130), the first thigh fixing component (122) being fixed with a leg, the rotating mechanism (130) being located between the hip joint support rod (121) and the first thigh fixing component (122), the hip joint support rod (121) having a first end and a second end which are oppositely arranged, the first end of the hip joint support rod (121) being rotatably connected with the waist fixing component (110), the hip joint support rod (121) being capable of swinging in the front and rear direction relative to the waist fixing component (110), the second end of the hip joint support rod (121) being connected with the rotating mechanism (130), the first thigh holder (122) is rotatable in the horizontal direction relative to the hip joint support bar (121) by the rotation mechanism (130);

an ankle module (200), the ankle module (200) comprising a foot fixation assembly (210) and a first lower leg fixation assembly (220), the foot fixation assembly (210) being rotatably connected with the first lower leg fixation assembly (220);

knee joint module (300), knee joint module (300) includes fixed subassembly of second thigh (310) and the fixed subassembly of second shank (320), the fixed subassembly of second thigh (310) with the fixed subassembly of second shank (320) rotatable coupling, hip joint module (100) ankle joint module (200) and knee joint module (300) are independent each other, the fixed subassembly of first thigh (120) with the fixed subassembly of second thigh (310) dislocation set, the fixed subassembly of first shank (220) with the fixed subassembly of second shank (320) dislocation set.

2. The lower extremity exoskeleton device of claim 1, wherein said pivoting mechanism (130) comprises:

a first fitting (131) fixed to a second end of the hip joint support bar (121);

a second fitting member (132) movably connected to the first fitting member (131), wherein the second fitting member (132) is fixed to the first thigh fixing member (122), and the first thigh fixing member (122) is rotated in a horizontal direction relative to the hip joint support rod (121) by the cooperation of the first fitting member (131) and the second fitting member (132).

3. The lower extremity exoskeleton device of claim 1, wherein said hip joint module (100) further comprises:

and the connecting rod assembly is arranged between the waist fixing assembly (110) and the first end of the hip joint supporting rod (121), and the hip joint supporting rod (121) can swing in the left-right direction relative to the waist fixing assembly (110) through the connecting rod assembly.

4. The lower extremity exoskeleton device of claim 3 wherein said linkage assembly comprises:

a first connecting rod (141), one end of the first connecting rod (141) being connected with the waist fixing component (110);

one end of the second connecting rod (142) is hinged to the other end of the first connecting rod (141), and the other end of the second connecting rod (142) is connected with the first end of the hip joint supporting rod (121).

5. The lower extremity exoskeleton device of claim 4 wherein said waist immobilization assembly (110) comprises:

a bracket (111), the first connecting rod (141) being connected with the bracket (111);

the waist fixing piece (112) is arranged on the bracket (111), and the waist fixing piece (112) is matched with the bracket (111) to be fixedly connected with the waist.

6. The lower extremity exoskeleton device according to claim 5, wherein said hip joint module (100) comprises two of said first thigh link assemblies (120) and two of said link assemblies, said first thigh link assemblies (120) being arranged in one-to-one correspondence with said link assemblies, and both of said first thigh link assemblies (120) and said two of said link assemblies being arranged symmetrically to said support (111), said hip joint module (100) further comprising an adjustment mechanism arranged between said first link rods (141) and said support (111), said adjustment mechanism being configured to adjust a spacing between said first link rods (141).

7. The lower extremity exoskeleton device of claim 6 wherein said adjustment mechanism comprises:

a gear (151) located at the middle of the bracket (111), and the gear (151) is rotatably arranged on the bracket (111);

the two racks (152) are respectively meshed with the gear (151), the two racks (152) are symmetrically arranged on two sides of the gear (151), and the two racks (152) are correspondingly connected with the two first connecting rods (141) one by one;

a locker (153), the locker (153) being disposed on the gear (151), the locker (153) having a locked state and an unlocked state locking the gear (151).

8. The lower extremity exoskeleton device of claim 7 wherein said adjustment mechanism further comprises:

a slider disposed between the rack (152) and the first connecting rod (141);

the guide rail is arranged on the bracket (111), and the sliding block is movably arranged in the guide rail.

9. The lower extremity exoskeleton device of claim 1, wherein said ankle joint module (200) further comprises:

the power assisting assembly is rotatably arranged between the first end of the first lower leg fixing assembly (220) and the foot fixing assembly (210), the power assisting assembly has a power accumulating state and a releasing state, and under the condition that the foot support is stressed, the power assisting assembly is in the power accumulating state; in the event that a foot is pedalling to apply a force, the booster assembly is in the released state.

10. The lower extremity exoskeleton device of claim 9 wherein said assist assembly comprises:

the rotating assembly is connected with the foot fixing assembly (210) at one end;

the power assisting device comprises a torsion spring (231), one end of the torsion spring (231) is fixedly arranged, the other end of the torsion spring (231) is connected with the other end of the rotating component, and the rotating component is matched with the torsion spring (231) to enable the power assisting component to be switched between the power accumulating state and the releasing state.

11. The lower extremity exoskeleton device of claim 10 wherein said rotation assembly comprises:

the first rotating piece (232) is provided with a first end face (232a) and a second end face (232b) which are oppositely arranged, the first end face (232a) is connected with the foot fixing component (210), and the second end face (232b) is eccentrically provided with a first driving protrusion (2321);

the second rotates piece (233), with first rotation piece (232) coaxial arrangement, the second rotates piece (233) has relative third terminal surface (233a) and fourth terminal surface (233b) that set up, just third terminal surface (233a) correspond second terminal surface (232b) set up, fourth terminal surface (233b) with torsional spring (231) interconnect, correspond on third terminal surface (233a) first drive arch (2321) is provided with second drive arch (2331).

12. The lower extremity exoskeleton device of claim 11 wherein said first lower leg immobilization assembly (220) comprises:

the shell assembly (221) is provided with a mounting cavity, and the first rotating piece (232) and the second rotating piece (233) are arranged in the mounting cavity and are respectively positioned at two sides of the shell assembly (221);

a support member (222), the support member (222) having a first end and a second end disposed opposite to each other, the first end of the support member (222) being connected to the shell assembly (221), the second end of the support member (222) extending in a vertical direction away from the foot fixing assembly (210);

a first lower leg attachment (223) disposed at an end of the support member (222) distal from the shell assembly (221), the first lower leg attachment (223) capable of attaching the support member (222) to a leg.

13. The lower extremity exoskeleton device of claim 12 wherein said ankle module (200) further comprises:

a limit structure disposed between the first rotating member (232) and the housing assembly (221), and/or disposed between the second rotating member (233) and the housing assembly (221).

14. The lower extremity exoskeleton device of claim 13 wherein said housing assembly (221) comprises:

a main body (2211), the main body (2211) being a hollow structure;

a first end cover (2212) and a second end cover (2213), the first end cover (2212) and the second end cover (2213) are respectively located on two sides of the main body (2211), the first end cover (2212), the main body (2211) and the second end cover (2213) are matched to form the installation cavity, the first end cover (2212) is located on one side of the main body (2211) close to the first rotating piece (232), and the second end cover (2213) is located on one side of the main body (2211) close to the second rotating piece (233).

15. The lower extremity exoskeleton device of claim 14,

the side wall of the main body (2211) is provided with a first limiting protrusion (241), and the first limiting protrusion (241) can be matched with the first driving protrusion (2321) for limiting the rotation range of the first rotating member (232) relative to the main body (2211); and/or the presence of a gas in the gas,

the orientation of second end cover (2213) one side that the second rotated piece (233) is provided with arc spacing groove (242), be provided with the spacing protruding (243) of second on fourth terminal surface (233b), the spacing protruding (243) of second is located in arc spacing groove (242), the spacing protruding (243) of second with the cooperation of arc spacing groove (242) is in order to restrict the second rotated piece (233) is relative the rotation range of second end cover (2213).

16. The lower extremity exoskeleton device as claimed in claim 12, wherein the second end face (232b) has a support post (2322) at a middle portion thereof, the third end face (233a) has a mounting hole (2332) at a middle portion thereof, and the ankle joint module (200) further comprises:

the first bearings (250) are arranged between the first rotating piece (232) and the shell assembly (221) and between the second rotating piece (233) and the shell assembly (221);

a second bearing (260) disposed in the mounting hole (2332), the support post (2322) passing through the second bearing (260).

17. The lower extremity exoskeleton device of claim 12 wherein the second end of said support (222) extends to the front side of the leg.

18. The lower extremity exoskeleton device of claim 1, wherein said ankle joint module (200) further comprises:

a detector capable of detecting a rotation angle of the foot securing assembly (210) relative to the first lower leg securing assembly (220).

19. The lower extremity exoskeleton device of claim 1,

the second thigh fixing component (310) comprises a first supporting rod (311) and a second thigh fixing part (312), the second thigh fixing part (312) is fixed at one end of the first supporting rod (311), and the second thigh fixing part (312) can be fixedly connected with a thigh;

the second shank fixing component (320) comprises a second supporting rod (321) and a second shank fixing piece (322), the second shank fixing piece (322) is fixed at one end of the second supporting rod (321), the second shank fixing piece (322) can be fixedly connected with a shank, the other end of the first supporting rod (311) is rotatably connected with the other end of the second supporting rod (321), and part of the first supporting rod (311) is located behind the leg and/or part of the second supporting rod (321) is located behind the leg.

20. The lower extremity exoskeleton device of claim 19, wherein the end of said first support bar (311) distal to said second thigh mount (312) is located at a leg side, and the end of said second support bar (321) distal to said second shank mount (322) is located at a leg side.

21. The lower extremity exoskeleton device of claim 19,

the second thigh fixing part (312) comprises a first fixing seat (3121) and a first bandage (3122), the first fixing seat (3121) is fixedly connected with the end of the first supporting rod (311), and the first fixing seat (3121) is located behind the leg, the first fixing seat (3121) is matched with the first bandage (3122) to fix the thigh;

the second shank fixing part (322) comprises a second fixing seat (3221) and a second binding band (3222), the second fixing seat (3221) is fixedly connected with the end part of the second supporting rod (321), the second fixing seat (3221) is located behind the leg, and the second fixing seat (3221) is matched with the second binding band (3222) to fix the shank.

22. The lower extremity exoskeleton device of claim 19,

the first supporting rod (311) extends upwards from the side part of the leg part to the back part of the leg part in a spiral way; and/or the presence of a gas in the gas,

the second support rod (321) extends upwards from the rear part of the leg part to the side part of the leg part in a spiral mode.

23. The lower extremity exoskeleton device of claim 19, wherein said knee joint module (300) further comprises:

the limiting structure is arranged between the first supporting rod (311) and the second supporting rod (321), and can limit the relative rotation angle of the first supporting rod (311) and the second supporting rod (321).

24. The lower extremity exoskeleton device of claim 1, wherein said first thigh link assembly (120) is disposed at a lower position than said second thigh link assembly (310), and said first shank link assembly (220) is disposed at a higher position than said second shank link assembly (320).

25. The lower extremity exoskeleton device of claim 1,

the hip joint module (100) further comprises a hip joint drive assembly (160), the hip joint drive assembly (160) being arranged between the waist fixation assembly (110) and the first thigh fixation assembly (120), the hip joint drive assembly (160) being capable of driving the first thigh fixation assembly (120) to oscillate in a front-rear direction relative to the waist fixation assembly (110);

the knee joint module (300) further comprises a knee joint driving component (330), the knee joint driving component (330) is arranged between the second thigh fixing component (310) and the second shank fixing component (320), and the knee joint driving component (330) can drive the second thigh fixing component (310) and the second shank fixing component (320) to rotate relatively.